bool W_Cannon::Fire(int mnplt)
{
//应该发送一个事件给Battlefield，让其生成一个炮弹
//低级一点的就是用传入一个指向Battlefield的指针来操作（这样总觉得Robot类与Battlefield类紧耦合了又)
if(General_Fire(mnplt))
{
double p=inaccuracy*(Random0_1()-0.5);//偏移角度
//double r=AnglePlus(AnglePlus(rotation,engineRotation),p);//角度
double r=AnglePlus(rotation,p);
double a=AngleToRadian(r);//弧度
bullettypename bt = (bullettypename)type;
//bullettypename bt = BT_Cannonball;
//if(type == WT_Apollo)
//{
// bt = BT_ApolloBall;
//}
pDispatcher->DispatchEvent(ID,pBattlefield->GetID(),
Add_Bullet,
new B_Cannonball(circle.r*cos(a)+circle.x,circle.r*sin(a)+circle.y,r,pRobot->GetBattlefieldID(),bt) );
pRobot->GetAchievementData().Add_Fire();
return true;
}
return false;
}
void GameEntity::Update()
{
//onEnterFrame
circle.x+=vx;
circle.y+=vy;
rotation=AnglePlus(rotation,vr);
}
/**
* SensorRange = einschränkung der Reichweite. Verhindert unnötig lange Berechnung
* Return: Distance
*/
uint16_t driven_before(int8_t type, uint16_t SensorRange) {
double diffR;
#ifdef CARTOGRAPHY_SCENARIO
gps_reducedData_t *own;
uint16_t angle, diffL;
int16_t xCollision = 0, yCollision = 0, ownX, ownY;
int32_t newX, newY;
//Aktuelle Orientierung beachten!!! Orientierung in Abhängigkeit der Fahrzeugorientierung und dem aktuell betrachteten Sensor
own = get_ownCoords();
switch(type) {
case RIGHT_SENSOR:
angle = AngleMinus(own->angle, 16383);
if (SensorRange > RANGESIDE*2) SensorRange = RANGESIDE*2; //siehe Anforderungen in wallFollow für align = 2
break;
case LEFT_SENSOR:
angle = AnglePlus(own->angle, 16383);
if (SensorRange > RANGESIDE*2) SensorRange = RANGESIDE*2;//siehe Anforderungen in wallFollow für align = 2
break;
case FRONT_SENSOR:
angle = own->angle;
if (SensorRange > RANGESIDE*2) SensorRange = RANGESIDE*2;
break;
default: angle = own->angle; break;
}
SensorRange = SensorRange / 5;
ownX = CoordinatesToMap(own->x);
ownY = CoordinatesToMap(own->y);
if (Sema != NULL) {
while ( xSemaphoreTake( Sema, ( portTickType ) 10 ) != pdTRUE ) {
os_wait(10);
}
newX = (SensorRange*cos_Taylor(uint16DegreeRelativeToX(angle)))/100 + ownX;
ownX = (2*cos_Taylor(uint16DegreeRelativeToX(angle)))/100 + ownX; //Ein stück aus dem Urpsrung rausgehen
newY = (SensorRange*sin_Taylor(uint16DegreeRelativeToX(angle)))/100 + ownY;
ownY = (2*sin_Taylor(uint16DegreeRelativeToX(angle)))/100 + ownY;
//gibt es ein bereits befahrenes Gebiet/Hindernis das zwischen Sensorwert und Auto liegt?
diffL = calc_reachability(&xCollision, &yCollision, ownX, ownY, (int16_t)newX, (int16_t)newY);
xSemaphoreGive(Sema);
} else return 600; //600 = max. Sensorreichweite
if (diffL == 1) {
diffR = sqrt(abs16(ownX - xCollision)*abs16(ownX - xCollision) + abs16(ownY - yCollision)*abs16(ownY - yCollision));
diffR = diffR*5;
if (diffR < 100) {
Seg_Hex(0x00);
}
else Seg_Hex(0x01);
}
else {
diffR = 600; // 600 für nichts gefunden
}
if (diffR > 600) diffR = 600;
#endif
return (uint16_t) diffR;
}
